2026-rebuilt

Team 4973's code for the 2026 "Rebuilt" FRC game, using RobotPy & CTRE Hardware.

Device Ids

• 0 through 5: Misc Devices (PDH [0], IMU [2])
• 6 through 9: Swerve Turn Motors
• 10 through 13: Swerve CANCoders
• 16 through 19: Swerve Drive Motors
• 30 through 35: Arm/Intake/Shooter

Robot Controls

Control	Action
Left stick	Drive (field-centric X/Y velocity)
Right stick X	Rotation
A button (hold)	Brake mode
B button (hold)	Point wheels at joystick direction
X	Reset field-centric heading

Setup

Option 1: uv (Recommended)

uv manages Python and dependencies automatically - no global installs needed.

# Install uv (one time)
curl -LsSf https://astral.sh/uv/install.sh | sh

# Run simulation (uv installs dependencies automatically)
uv run python -m robotpy sim

Option 2: pip

If you prefer using system Python directly:

# Install dependencies
pip install robotpy[commands2,sim] phoenix6

# Run simulation
python3 -m robotpy sim

Running Simulation

1. Run: uv run python -m robotpy sim (or python3 -m robotpy sim if using pip)
2. The simulation GUI opens
3. In the GUI:
   • Go to Joysticks panel
   • Map a virtual joystick to port 0
   • Enable Teleop mode
4. Test the controls:
   • Use left stick to drive
   • Use right stick to rotate
   • Press A to brake

Deploying to Robot

When connected to the robot (via WiFi or USB):

# Using uv:
uv run python -m robotpy sync    # First time: sync dependencies to roboRIO
uv run python -m robotpy deploy  # Deploy code

# Or using pip:
python3 -m robotpy sync
python3 -m robotpy deploy

Then in Driver Station:

1. Connect to robot
2. Enable Teleop
3. Test controls

Running Tests

# Using uv:
uv run python -m robotpy test

# Or using pip:
python3 -m robotpy test

Troubleshooting

Simulation won't start:

• If using uv: try uv sync --refresh to reinstall dependencies
• If using pip: reinstall with pip install --force-reinstall robotpy[commands2,sim] phoenix6
• Check Python version: python3 --version (need 3.12+)

Robot not responding in simulation:

• Check the Joysticks panel - make sure a joystick is mapped to port 0
• Make sure Teleop is enabled (not Disabled or Autonomous)

Deploy fails:

• Make sure you're connected to the robot network
• Run sync first: uv run python -m robotpy sync (or python3 -m robotpy sync)